Evaluation exclusively on static objects captured by a moving camera cannot completely reflect the properties of a 6D pose tracking method [1]}. For this reason, the YCBInEOAT dataset is chosen to evaluate tracking in scenarios where objects are moving in front of the camera. The same evaluation protocol is followed as in prior work [1]}. Results are computed from accuracy-threshold AUC (Area Under Curve) measured by \(ADD = \frac{1}{m}\sum _{x \in M} ||Rx+T-(\hat{R}x+\hat{T})||\) , which performs exact model matching, and \(ADD\) -\(S = \frac{1}{m}\sum _{x_1 \in M} \min _{x_2 \in M}||Rx_1+T-(\hat{R}x_2+\hat{T})||\)  [3]} designed for evaluating symmetric objects. Similar to prior work [1]}, the ground-truth object's pose in the camera's frame is provided as initialization. No re-initialization is allowed during the tracking process.
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